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文章基本信息

  • 标题:Modeling and control of two-link snake
  • 作者:Tomáš Lipták ; Ivan Virgala ; L’ubica Miková
  • 期刊名称:International Journal of Advanced Robotic Systems
  • 印刷版ISSN:1729-8806
  • 电子版ISSN:1729-8814
  • 出版年度:2018
  • 卷号:15
  • 期号:2
  • DOI:10.1177/1729881418760638
  • 语种:English
  • 出版社:SAGE Publications
  • 摘要:This article deals with using of geometric mechanics at modeling mixed mechanical locomotion systems. In introductory part, the division of locomotion systems and reduced motion equation, which create the mathematical model of the system, is analyzed. Further we devoted to example of mixed locomotion system—two-link snake. We created the mathematical model of this example, simulated this system, and represented other tools of geometric mechanics.
  • 关键词:Two-link snake; nonholonomic constraint; Lagrangian; mathematical model; vector field; gait; height and gamma function
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